X-ray imaging device for minimally invasive surgery

ABSTRACT

The present invention relates to an X-ray imaging device for minimally invasive surgery, the device including: a rod having a clamp module disposed at a first end of the rod and including a first clamp body, a second clamp body, and a clamp support; an X-ray emission module; an X-ray sensing module; and a manipulation module, in which the rod is inserted into the human body, X-rays are emitted from the X-ray emission module with the first end of the first clamp body and the first end of the second clamp body open with a lesion positioned therebetween in the human body, and the X-rays travel through the lesion and is then sensed by the X-ray sensing module.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/573,251 filed on Nov. 10, 2017, which is a U.S. national stageapplication of International Application No. PCT/KR2016/004798 filed onMay 9, 2016, which claims the benefit under 35 USC § 119(a) of KoreanPatent Application No. 10-2015-0065344 filed on May 11, 2015 in theKorean Intellectual Property Office, the entire disclosure of which isincorporated herein by reference for all purposes.

BACKGROUND Technical Field

The present invention relates to an X-ray imaging device for minimallyinvasive surgery and, more particularly, to an X-ray imaging device forminimally invasive surgery, the device being able to minimize aradiation exposure dose with a simple structure when visually checking alesion using X-rays in laparoscopic surgery or thoracoscopic surgery.

Background Art

The average span of human life is increasing with the development of theeconomy and medical technology, but the rates of most cancers includinglung cancer have been increasing as age increases, according tostatistics by National Health Insurance Service and Ministry of Healthand Welfare of Korea in 2007.

As such, more people are being operated on for lung cancer as earlydiagnosis is generally applied, but most people who are diagnosed withlung cancer are elderly patients having an early stage of cancer.

Since most elderly cancer patients also have various other complicationssuch as cardiovascular disease, there is a need for a patient-fitlimited pneumonectomy that can minimize complications after surgery andimprove the quality of patients' life rather than applying the samesurgery to all patients.

Recently, for an early cancer with a tumor less than 2 cm and with nospread to a lymph node, limited pneumonectomv such as segmentectomy orlung wedge lobectomy has been attempted rather than thoracoscopy inorder to improve the quality of patients' life after surgery bypreserving as much of a normal lung as possible.

In order to check lung cancer from a solitary pulmonary nodule,CT-guided percutaneous or bronchoscopic needle aspiration biopsy usingchest CT or bronchoscopy is the most sure method, but it is impossibleto perform CT-guided percutaneous or bronchoscopic needle aspirationbiopsy for a solitary pulmonary nodule of 10 mm or less, ground glassopacity, or a solitary pulmonary nodule close to a blood vessel orimportant organs.

Most solitary pulmonary nodules found by early diagnosis such as chestCT are small or have ground glass opacity, so it is impossible to applychest TC or bronchoscopy. In these cases, definitive diagnosis ispossible only through a surgical operation of excising a solitarypulmonary nodule.

Recently, The Society of Thoracic Surgeons (STS) recommends surgicallyexcising a solitary pulmonary nodule less than 1 cm in chest CT when thesolitary pulmonary nodule changes in size or shape, so cardiac surgeonshave to perform more surgical excisions for diagnosing or treating smallsolitary pulmonary nodules.

Minimally invasive surgery using a video thoracoscope is a morereasonable method than thoracotomy in order to excise small solitarypulmonary nodules, but most surgeons cannot see and touch with handssolitary pulmonary nodules during a video thoracoscopic surge incomparison to thoracotomy because solitary pulmonary nodules are insidea lung parenchyma, so surgeons have to perform localization or markingto mark the lesions so that the lesion can be seen for excision.

In limited pneumonectomy such as segmentectomy for a early lung cancer,it is important to maintain an appropriate resection margin from lungcancer in order to reduce local reappearance, and generally, it isrequired to maintain a resection margin as large as lung cancer or 2 cmfrom lung cancer

Further, it is important to maintain an appropriate resection margineven in limited pneumonectomy for a metastatic lung cancer, so it isrequired to visually ensure a resection margin from lung cancer duringoperation by performing localization or marking for visually showing theportion to excise before the operation.

At present, in various localizations for solitary pulmonary nodules, amethod of injecting lipiodol and using the C-arm disclosed in JapanesePatent Application Publication No. 2005-58309.

However, the C-Arm has the advantage that it is possible to visuallydiscriminate an accurate resection margin from a solitary pulmonarynodule, but it requires a large X-ray imaging device during anoperation, so the operation room is cluttered and there is a possibilityof medial staff being exposed to excessive radiation.

International Commission on Radiological Protection (ICRS) hasrecommended the maximum level of 20 mSv for medial workers, but there isa report that medial workers are exposed to radiations maximally up to20.88 mSv a year (KIM, Ji-Wan, Journal of The Korean OrthopedicAssociation, 2010), so there is an X-ray imaging device than canminimize the radiation exposure dose during an operation by the C-Armand occupy a small space.

Technical Problem

Accordingly, the present invention has been made in an effort to solvethe problems and an object of the present invention is to provide anX-ray imaging device for minimally invasive surgery, the device beingable to solve the problem that an operation room is cluttered due toequipment by minimizing equipment for visually checking a lesion usingX-rays and to minimize a radiation exposure dose in minimally invasivesurgery such as laparoscopic surgery or thoracoscopic surgery.

Technical Solution

The present invention provides an X-ray imaging device for minimallyinvasive surgery, the device including: a rod having a predeterminedlength that can be inserted into a human body; a clamp module disposedat a first end of the rod and including a first clamp body, a secondclamp body, and a clamp support supporting at least one of the firstclamp body and the second clamp body such that a first end of the firstclamp body and a first end of the second clamp body open and close; anX-ray emission module disposed at the first end of the first clamp bodyand emitting X-rays to the first end of the second clamp body; an X-raysensing module disposed at the first end of the second clamp and sensingthe X-rays emitted from the X-ray emission module; and a manipulationmodule disposed at a second end of the rod and operating the clampmodule to open and close the first end of the first clamp body and thesecond end of a second clamp body of the clamp module, in which the rodis inserted into the human body, X-rays are emitted from the X-rayemission module with the first end of the first clamp body and the firstend of the second clamp body open with a lesion positioned therebetweenin the human body, and the X-rays travel through the lesion and is thensensed by the X-ray sensing module.

The clamp support may support any one of the first clamp body and thesecond clamp body to be rotatable such that any one of the first clampbody and the second clamp body moves toward and away from the other one,and any one of the first clamp body and the second clamp body may berotated by the manipulation module.

The clamp support may elastically support the first clamp body and thesecond clamp body to open the first end of the first clamp body and thefirst end of the second clamp body, and the manipulation module mayoperate the clamp module to move the clamp module between an insertionposition, where the first end of the first clamp body and the first endof the second clamp body are closed and inserted in the rod from thefirst end of the rod, and an image position where the clamp module isexposed outside the rod with the first end of the first clamp body andthe first end of the second clamp body open by elasticity of the clampsupport.

The clamp support may support second ends of the first clamp body andthe second clamp body to be rotatable such that the first end of thefirst clamp body and the first end of the second clamp body open andclose, the manipulation module may operate the clamp module to move theclamp module between an insertion position, where the first end of thefirst clamp body and the first end of the second clamp body are closedand inserted in the rod from the first end of the rod, and an imageposition where the clamp module is exposed outside the rod, and thefirst end of the first clamp body and the first end of the second clampbody may be opened by pulling wires connected to the first clamp bodyand the second clamp body, respectively, at the imaging position.

The clamp module may further include a stopper stopping the first clampbody and the second clamp body with a predetermined distancetherebetween when the wires are pulled.

When the first end of the first clamp body and the first end of thesecond clamp body are open, the X-ray emission module and the X-raysensing module may be aligned to face each other.

Advantageous Effects

According to the X-ray imaging device for minimally invasive surgery ofthe present invention, it is possible to solve the problem the anoperation room is cluttered due to equipment by minimizing equipment forvisually checking a lesion using X-rays and to minimize a radiationexposure dose in minimally invasive surgery such as laparoscopic surgeryor thoracoscopic surgery.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view showing an X-ray imaging device for minimally invasivesurgery according to a first embodiment of the present invention.

FIG. 2 is a cross-sectional view enlarging a clamp module of the X-rayimaging device for minimally invasive surgery shown in FIG. 1 .

FIG. 3 is a view showing an X-ray imaging device for minimally invasivesurgery according to a second embodiment of the present invention.

FIG. 4 is an enlarged view of the area A in FIG. 3 .

FIG. 5 is a view showing the operation of a clamp module of the X-rayimaging device for minimally invasive surgery according to the secondembodiment of the present invention.

FIGS. 6 to 8 are views showing the operation of a clamp module of theX-ray imaging device for minimally invasive surgery according to a thirdembodiment of the present invention.

DETAILED DESCRIPTION

The present invention relates to an X-ray imaging device for minimallyinvasive surgery, the device including: a rod having a predeterminedlength that can be inserted into a human body; a clamp module disposedat a first end of the rod and including a first clamp body, a secondclamp body, and a clamp support supporting at least one of the firstclamp body and the second clamp body such that a first end of the firstclamp body and a first end of the second clamp body open and close; anX-ray emission module disposed at the first end of the first clamp bodyand emitting X-rays to the first end of the second clamp body; an X-raysensing module disposed at the first end of the second clamp and sensingthe X-rays emitted from the X-ray emission module; and a manipulationmodule disposed at a second end of the rod and operating the clampmodule to open and close the first end of the first clamp body and thesecond end of a second clamp body of the clamp module, in which the rodis inserted into the human body, X-rays are emitted from the X-rayemission module with the first end of the first clamp body and the firstend of the second clamp body open with a lesion positioned therebetweenin the human body, and the X-rays travel through the lesion and is thensensed by the X-ray sensing module.

Hereinafter, the present invention will be described in detail withreference to the accompanying drawings showing embodiments of thepresent invention.

An X-ray imaging device 100 for minimally invasive surgery according tothe present invention is inserted into a human body and takes an X-rayimage of a target organ L such as a lung in minimally invasive surgerysuch as a laparoscopic surgery a thoracoscopic surgery.

FIG. 1 is a view showing an X-ray imaging device 100 for minimallyinvasive surgery according to a first embodiment of the presentinvention and FIG. 2 is a view enlarging a clamp module 120 of the X-rayimaging device for minimally invasive surgery shown in FIG. 1 .

Referring to FIGS. 1 and 2 , the X-ray imaging device for minimallyinvasive surgery according to the first embodiment of the presentinvention includes: a rod 110, a clamp module 120, an X-ray emissionmodule 141, and X-ray sensing module 142, and a manipulation module 130.

It is exemplified that the rod 110 has a predetermined length that canbe inserted into the a patient's body, and has a substantiallycylindrical shape. The clamp module 120 is disposed at a first end, thatis, an end to be inserted into a patient's body, of the rod 110 and themanipulation module 130 for operating the clamp module 120 is disposedat a second end.

The clamp module 120, as shown in FIG. 2 , is disposed at the first endof the rod 110 and may include a first clamp body 121, a second clampbody 122, and a clamp support 123. The first clamp body 121 and thesecond clamp body 122 are supported by the clamp support 123 such that afirst end of the first clamp body 121 and a second end of the secondclamp body 122 can open and close like tongs.

The X-ray emission module 141 is disposed at the first end of the firstclamp body 121. The X-ray sensing module 142 is disposed at the secondend of the second clamp body 122. When the first end of the first clampbody 121 and the first end of the second clamp body 122 are open, asshown in FIG. 2 , the X-ray emission module 141 and the X-ray sensingmodule 142 are aligned to face each other, so the X-ray sensing module142 can sense X-rays emitted from the X-ray emission module 141, whichwill be described below.

In the first embodiment of the present invention, it is exemplified thatthe first clamp body 121 is fixed to the first end of the rod 110 andthe second clamp body 122 is supported rotatably on the first clamp body121 by the clamp support 123 that is a rotary shaft. Further, it isexemplified that the X-ray emission module 141 is disposed in the firstclamp body 121 to emit X-rays to the X-ray sensing module 142 on thesecond clamp body 122.

Further, the X-ray emission module 141 and the X-ray sensing module 142are connected to a control equipment such a computer disposed outsidethrough a signal cable (not shown) or a power cable (not shown). Thesignal cable or the power cable is connected to the X-ray emissionmodule 141 and the X-ray sensing module 142 and connected to theexternal control equipment through the inside of the rod 110.

The manipulation module 130 is disposed at the second end of the rod 110and operates the second clamp body 122 of the clamp module 120 to openand close the first end of the first clamp body 121 and the first end ofthe second clamp body 122 of the clamp module 120.

A method of imaging a lesion T on an organ L such as a lung inside apatient' s body using the X-ray imaging device 100 having thisconfiguration for minimally invasive surgery according to the presentinvention is described hereafter.

First, an operator inserts the rod 110 into a patient's body with thefirst clamp body 121 and the second clamp body 122 of the clamp module120 closed, opens the second clamp body 122 away from the first clampbody 121 by manipulating the manipulation module 130 around the organ Lsuch as a lung to be imaged, and then moves the rod 110 such that thetarget organ L is positioned between the first clamp body 121 and thesecond clamp body 122, for example, the lesion T is positioned betweenthe first clamp body 121 and the second clamp body 122.

Thereafter, the operator controls the X-ray emission module 141 throughthe control equipment to emit X-rays, then the X-rays emitted from theX-ray emission module 141 travel through the lesion T and the organ Land are sensed by the X-ray sensing module 142 and the sensing result bythe X-ray sensing module 142 is transmitted to the external controlequipment through the signal cable, whereby it is possible to see anX-ray image through a monitor of the control equipment.

After finishing the operation, the operator closes the first clamp body121 and the second clamp body 122 by manipulating the manipulationmodule 130, and accordingly, the operator can pull the rod 110 out ofthe patient's body.

Since the clamp module 120 according to an embodiment of the presentinvention is formed like tongs such that the first clamp body 121 andthe second clamp body 122 open and close, as described above, it ispossible to hold a tissue such as a lung by closing the first clamp body121 and the second clamp body 122. Accordingly, when performingminimally invasive surgery using the X-ray imaging device 100 forminimally invasive surgery according to the present invention, it ispossible to take an X-ray image, if necessary, while using the X-rayimaging device 100 for minimally invasive surgery as a gripper, withoutusing a separate gripper for holding a tissue etc.

This configuration can be achieved in a size that can be inserted into apatient's body to obtain an X-ray image in minimally invasive surgery,so the environment of an operation room can be simplified. Further, itis possible to remarkably reduce a radiation exposure dose due to X-raysthat are radiated to other parts of a patient when emitted around thelesion T in the patient's body, or that are radiated to an operator.

Further, when a lung is excavated to image and perform an operationthereon, the volume of the lung is decreased (see FIG. 5 ), so even ifthe gap between the first clamp body 121 and the second clamp body 122is not large, it is possible to take an X-ray image with the lungbetween the clamp bodies. Accordingly, an X-ray image can be obtainedeven by the structure of the clamp module 120 according to the firstembodiment of the present invention.

An X-ray imaging device 100 a for minimally invasive surgery accordingto a second embodiment of the present invention is described hereafterin detail with reference to FIGS. 3 to 5 .

Referring to FIGS. 3 and 5 , the X-ray imaging device 100 a forminimally invasive surgery according to the second embodiment of thepresent invention includes: a rod 110 a, a clamp module 120 a, an X-rayemission module 141 a, and an X-ray sensing module 142 a, and amanipulation module 130 a.

It is exemplified that the rod 110 a, the same as in the firstembodiment, has a predetermined length that can be inserted into apatient's body, and has a substantially cylindrical shape. The clampmodule 120 a is disposed at a first end, that is, an end to be insertedinto a patient's body, of the rod 110 a and the manipulation module 130a for operating the clamp module 120 a is disposed at a second end.

The clamp module 120 a, as shown in FIGS. 4 and 5 , is disposed at thefirst end of the rod 110 a and may include a first clamp body 121 a, asecond clamp body 122 a, and a clamp support 123 a. The first clamp body121 a and the second clamp body 122 a are supported by the clamp support123 a such that a first end of the first clamp body 121 a and a secondend of the second clamp body 122 a can open and close like tongs.

As in the first embodiment, the X-ray emission module 141 a is disposedat the first end of the first clamp body 121 a. The X-ray sensing module142 a is disposed at the second end of the second clamp body 122 a. Whenthe first end of the first clamp body 121 a and the first end of thesecond clamp body 122 a are open, as shown in FIG. 5 , the X-rayemission module 141 a and the X-ray sensing module 142 a are aligned toface each other, so the X-ray sensing module 142 a can sense X-raysemitted from the X-ray emission module 141 a. The X-ray emission module141 a and the X-ray sensing module 142 a can be connected to controlequipment such as a computer disposed outside through a signal cable(not shown) or a power cable (not shown).

The manipulation module 130 a is disposed at the second end of the rod110 a and operates the clamp module 120 a to open and close the firstend of the first clamp body 121 a and the first end of the second clampbody 122 a of the clamp module 120 a.

It is exemplified that clamp support 123 a according to the secondembodiment of the present invention, as shown in FIGS. 4 and 5 ,elastically supports the first end of the first clamp body 121 a and thesecond clamp body 122 a to open the first end of the first clamp body121 a and the first end of the second clamp body 122 a.

The first clamp body 121 a, second clamp body 122 b, and clamp support123 a are integrally formed in FIGS. 4 and 5 , the first clamp body 121a and the second clamp body 122 a are elastically closed, as shown inFIG. 5 , and are then inserted into the rod 110, as shown in FIG. 4 .

The first clamp module 120 a is moved by the manipulation module 130 abetween an insertion position in the rod 110 a shown in FIG. 4 and animaging position exposed outside the rod 110 a.

In detail, at the insertion position, as shown in FIG. 4 , the clampmodule 120 a is inserted in the rod 110 a with the first end of thefirst clamp body 121 a and the first end of the second clamp body 122 aclosed against the elasticity of the clamp support 123 a.

Further, at the imaging position, as shown in FIG. 5 , the clamp module120 a is exposed outside the rod 110 a with the first end of the firstclamp body 121 a and the first end of the second clamp body 122 a openby the elasticity of the clamp support 123 a.

A method of imaging a lesion T on an organ L such as a lung inside apatient' s body using the X-ray imaging device 100 a having thisconfiguration for minimally invasive surgery according to the secondembodiment of the present invention is described hereafter.

First, the operator inserts the rod 110 a into a patient's body with theclamp module 120 a at the insertion position and then exposes the clampmodule 120 a outside the rod 11 a by manipulating the manipulationmodule 130 a around a target organ L such as a lung. Accordingly, thefirst end of the first clamp body 121 a and the first end of the secondclamp body 122 a are opened by the elasticity of the clamp support 123 aof the clamp module 120 a at the insertion position shown in FIG. 5 .

Thereafter, the operator, as shown in FIG. 5 , moves the first clampbody 121 a and the second clamp body 122 a around the organ L such as alung such that the target lesion T is positioned between the X-rayemission module 141 a at the first end of the first clamp body 121 andthe X-ray sensing module 142 a at the first end of the second clamp body122 a.

Thereafter, the operator controls the X-ray emission module 141 athrough the control equipment to emit X-rays, then the X-rays emittedfrom the X-ray emission module 141 a travel through the lesion T and theorgan L and is sensed by the X-ray sensing module 142 a and the sensingresult by the X-ray sensing module 142 is transmitted to the externalcontrol equipment through the signal cable, whereby it is possible tosee an X-ray image through a monitor of the control equipment.

After finishing the surgery, the operator pulls the clamp module 120 aby manipulating the manipulation module 130 a, then the first clamp body121 a and the second clamp body 122 a are closed and inserted into therod 110 a to the insertion position shown in FIG. 3 . Accordingly, theoperator can pull the rod 110 a out of the patient's body.

In the second embodiment of the present invention, as shown in FIGS. 4and 5 , it is exemplified that a rigid operation wire 131 a is connectedto the manipulation module 130 a and the clamp module 120 a to move theclamp module 120 a between the insertion position and the imagingposition, but other structures that move the clamp module 110 a in thelongitudinal direction of the rod 110 a may be applied.

An X-ray imaging device 100 a for minimally invasive surgery accordingto a third embodiment of the present invention is described hereafter indetail with reference to FIGS. 6 to 8 . The fundamental configuration ofthe X-ray imaging device 100 a for minimally invasive surgery accordingto a third embodiment of the present invention corresponding to that ofthe second embodiment, except for a clamp module 120 b shown in FIGS. 6to 8 . Reference numerals not shown in FIGS. 6 to 8 refer to thereference numerals of corresponding components in the second embodiment.

A clamp support 123 b of the clamp module 120 b according to the thirdembodiment supports second ends of a first clamp body 121 b and secondclamp body 122 b such that a first end of the first clamp body 121 b anda first end of the second clamp body 122 b open and close.

A manipulation module 130 a operates the clamp module 120 b between aninsertion position where the first end of the first clamp body 121 b andthe first end of the second clamp body 122 b are closed and inserted ina rod 110 b from an end of the rod 110 b (see FIG. 6 ) and an imagingposition where the clamp module 120 b is exposed outside the rod 110 b(see FIG. 7 ).

An operator pulls clamp wires 132 b and 133 b connected to the firstclamp body 121 b and the second clamp body 122 b, respectively, at theimaging position toward the manipulation module 130 a, as shown in FIG.8 , thereby opening the first end of the first clamp body 121 b and thefirst end of the second clamp body 122 b.

The clamp module 120 b may include a stopper 124 b that stops the firstclamp body 121 b and the second clamp body 122 b with an X-ray emissionmodule 141 b and an X-ray sensing module 142 facing each other when theclamp wires 132 b and 133 b are pulled. According to the presentinvention, as shown in FIG. 8 , the stopper 124 b may be a wireconnecting the first clamp body 121 b and the second clamp body 122 b toeach other to stop the first clamp body 121 b and the second clamp body122 b with a predetermined distance therebetween.

Although embodiments of the present invention were described above, itwould be understood by those skilled in the art that the embodiments maybe modified without departing from the spirit and scope of the presentinvention. The scope of the present invention should be determined byclaims and equivalents of the claims.

REFERENCE NUMERALS

100,100 a: X-ray imaging device for minimally invasive surgery

110,110 a,110 b: rod 120,120 a,120 b: clamp module

121,121 a,121 b: first clamp body 122,122 a,122 b: second clamp body

123,123 a,123 b: clamp support 124 b: stopper 130,130 a: manipulationmodule 131 a,131 b: operation wire

132 b,133 b: clamp wire 141,141 a,141 b: X-ray emission module

142, 142 a, 142 b: X-ray sensing module

INDUSTRIAL APPLICABILITY

The present invention can be applied to visually checking a lesion usingan X-ray in minimally invasive surgery such as a laparoscopic surgeryand a thoracoscopic surgery.

What is claimed is:
 1. A an X-ray imaging device for minimally invasivesurgery, the device comprising: a rod having a predetermined length thatcan be inserted into a human body; a clamp module disposed at a firstend of the rod and including a first clamp body, a second clamp body,and a clamp support supporting at least one of the first clamp body andthe second clamp body such that a first end of the first clamp body anda first end of the second clamp body open and close; an X-ray emissionmodule disposed at the first end of the first clamp body and emittingX-rays to the first end of the second clamp body; an X-ray sensingmodule disposed at the first end of the second clamp and sensing theX-rays emitted from the X-ray emission module; and a manipulation moduledisposed at a second end of the rod and operating the clamp module toopen and close the first end of the first clamp body and the second endof a second clamp body of the clamp module, wherein the rod is insertedinto the human body, X-rays are emitted from the X-ray emission modulewith the first end of the first clamp body and the first end of thesecond clamp body open with a lesion positioned therebetween in thehuman body, and the X-rays travel through the lesion and is then sensedby the X-ray sensing module.
 2. The device of claim 1, wherein the clampsupport supports any one of the first clamp body and the second clampbody to be rotatable such that any one of the first clamp body and thesecond clamp body moves toward and away from the other one, and any oneof the first clamp body and the second clamp body is rotated by themanipulation module.
 3. The device of claim 1, wherein the clamp supportelastically supports the first clamp body and the second clamp body toopen the first end of the first clamp body and the first end of thesecond clamp body, and the manipulation module operates the clamp moduleto move the clamp module between an insertion position, where the firstend of the first clamp body and the first end of the second clamp bodyare closed and inserted in the rod from the first end of the rod, and animage position where the clamp module is exposed outside the rod withthe first end of the first clamp body and the first end of the secondclamp body open by elasticity of the clamp support.
 4. The device ofclaim 1, wherein the clamp support supports second ends of the firstclamp body and the second clamp body to be rotatable such that the firstend of the first clamp body and the first end of the second clamp bodyopen and close, the manipulation module operates the clamp module tomove the clamp module between an insertion position, where the first endof the first clamp body and the first end of the second clamp body areclosed and inserted in the rod from the first end of the rod, and animage position where the clamp module is exposed outside the rod, andthe first end of the first clamp body and the first end of the secondclamp body are opened by pulling wires connected to the first clamp bodyand the second clamp body, respectively, at the imaging position.
 5. Thedevice of claim 4, wherein the clamp module further includes a stopperstopping the first clamp body and the second clamp body with apredetermined distance therebetween when the wires are pulled.
 6. Thedevice of claim 1, wherein when the first end of the first clamp bodyand the first end of the second clamp body are open, the X-ray emissionmodule and the X-ray sensing module are aligned to face each other. 7.The device of claim 2, wherein the first clamp body and the second clampbody are opened like tongs by the clamp support, so the first and secondclamp bodies can hold an object when closing.